OpenRaiser/Intern-Atlas huggingface dataset:
Exploring the Generalizability of Factual Hallucination Mitigation via Enhancing Precise Knowledge Utilization
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) often struggle to align their responses with objective facts, resulting in the issue of factual hallucinations, which can be difficult to detect and mislead users without relevant knowledge. Although post-training techniques have been employed to mitigate the issue, existing methods usually suffer from poor generalization and trade-offs in other different capabilities. In this paper, we propose to address these by directly augmenting LLM's fundamental ability to precisely leverage its knowledge and introduce PKUE (Precise Knowledge Utilization Enhancement), which fine-tunes the model on self-generated responses to precise and simple factual questions through preference optimization. Furthermore, we construct FactualBench, a comprehensive and precise factual QA dataset containing 181k Chinese data spanning 21 domains, to facilitate both evaluation and training. Extensive experiments demonstrate that PKUE significantly improves LLM overall performance, with consistent enhancement across factual tasks of various forms, general tasks beyond factuality, and tasks in different language.
Robust Precoding for Rate-Splitting-Based Cell-Free MU-MIMO Networks
Venue: arXiv cs.IT 2025
Year: 2025

Cell-free (CF) multiuser multiple-input multiple-output (MU-MIMO) systems are an emerging technology that provides service simultaneously to multiple users but suffers from multiuser interference (MUI). In this work, we propose a robust transmit scheme based on rate-splitting (RS) for CF MU-MIMO systems in the presence of imperfect channel state information (CSI) and MUI. We also develop a robust linear precoder design for both private and common precoders based on the minimum mean square error (MMSE) criterion, which incorporates in its design statistical information about the imperfect CSI to provide extra robustness to RS-CF MU-MIMO systems. A statistical analysis is carried out to derive closed-form sum-rate expressions along with a study of the computational complexity of the proposed scheme. Simulation results show that the proposed scheme outperforms conventional robust and non-robust schemes.
Increasing the Task Flexibility of Heavy-Duty Manipulators Using Visual 6D Pose Estimation of Objects
Venue: arXiv cs.RO 2025
Year: 2025

Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of heavy-duty, long-reach (HDLR) manipulators using advanced machine vision. A camera is utilized in the so-called eye-in-hand configuration to estimate directly the poses of a tool and a target object of interest (OOI). Based on the pose error between the tool and the target, along with motion-based calibration between the camera and the robot, precise tool positioning can be reliably achieved using conventional robotic modeling and control methods prevalent in the industry. The proposed methodology comprises orientation and position alignment based on the visually estimated OOI poses, whereas camera-to-robot calibration is conducted based on motion utilizing visual SLAM. The methods seek to avert the inaccuracies resulting from rigid-body--based kinematics of structurally flexible HDLR manipulators via image-based algorithms. To train deep neural networks for OOI pose estimation, only synthetic data are utilized. The methods are validated in a real-world setting using an HDLR manipulator with a 5 m reach. The experimental results demonstrate that an image-based average tool positioning error of less than 2 mm along the non-depth axes is achieved, which facilitates a new way to increase the task flexibility and automation level of non-rigid HDLR manipulators.
PlantPal: Leveraging Precision Agriculture Robots to Facilitate Remote Engagement in Urban Gardening
Venue: arXiv cs.HC 2025
Year: 2025

Urban gardening is widely recognized for its numerous health and environmental benefits. However, the lack of suitable garden spaces, demanding daily schedules and limited gardening expertise present major roadblocks for citizens looking to engage in urban gardening. While prior research has explored smart home solutions to support urban gardeners, these approaches currently do not fully address these practical barriers. In this paper, we present PlantPal, a system that enables the cultivation of garden spaces irrespective of one's location, expertise level, or time constraints. PlantPal enables the shared operation of a precision agriculture robot (PAR) that is equipped with garden tools and a multi-camera system. Insights from a 3-week deployment (N=18) indicate that PlantPal facilitated the integration of gardening tasks into daily routines, fostered a sense of connection with one's field, and provided an engaging experience despite the remote setting. We contribute design considerations for future robot-assisted urban gardening concepts.
A new introduction rule for disjunction
Venue: arXiv cs.LO 2025
Year: 2025

We extend Natural Deduction for intuitionistic logic with a third introduction rule for the disjunction, $\vee$-i3, with a conclusion $Γ\vdash A\vee B$, but both premises $Γ\vdash A$ and $Γ\vdash B$. This rule is admissible in Natural Deduction. This extension is interesting in several respects. First, it permits to solve a well-known problem in logics with interstitial rules that have a weak introduction property: closed cut-free proofs end with an introduction rule, except in the case of disjunctions. With this new introduction rule, we recover the strong introduction property: closed cut-free proofs always end with an introduction. Second, the termination proof of this proof system is simpler than that of the usual propositional Natural Deduction with interstitial rules, as it does not require the use of the so-called ultra-reduction rules. Third, this proof system, in its linear version, has applications to quantum computing: the $\vee$-i3 rule enables the expression of quantum measurement, without the cost of introducing a new connective. Finally, even in logics without interstitial rules, the rule $\vee$-i3 is useful to reduce commuting cuts, although, in this paper, we leave the termination of such reduction as an open problem.
UQABench: Evaluating User Embedding for Prompting LLMs in Personalized Question Answering
Venue: arXiv cs.IR 2025
Year: 2025

Large language models (LLMs) achieve remarkable success in natural language processing (NLP). In practical scenarios like recommendations, as users increasingly seek personalized experiences, it becomes crucial to incorporate user interaction history into the context of LLMs to enhance personalization. However, from a practical utility perspective, user interactions' extensive length and noise present challenges when used directly as text prompts. A promising solution is to compress and distill interactions into compact embeddings, serving as soft prompts to assist LLMs in generating personalized responses. Although this approach brings efficiency, a critical concern emerges: Can user embeddings adequately capture valuable information and prompt LLMs? To address this concern, we propose \name, a benchmark designed to evaluate the effectiveness of user embeddings in prompting LLMs for personalization. We establish a fair and standardized evaluation process, encompassing pre-training, fine-tuning, and evaluation stages. To thoroughly evaluate user embeddings, we design three dimensions of tasks: sequence understanding, action prediction, and interest perception. These evaluation tasks cover the industry's demands in traditional recommendation tasks, such as improving prediction accuracy, and its aspirations for LLM-based methods, such as accurately understanding user interests and enhancing the user experience. We conduct extensive experiments on various state-of-the-art methods for modeling user embeddings. Additionally, we reveal the scaling laws of leveraging user embeddings to prompt LLMs. The benchmark is available online.
AutoML for Multi-Class Anomaly Compensation of Sensor Drift
Venue: arXiv cs.LG 2025
Year: 2025

Addressing sensor drift is essential in industrial measurement systems, where precise data output is necessary for maintaining accuracy and reliability in monitoring processes, as it progressively degrades the performance of machine learning models over time. Our findings indicate that the standard cross-validation method used in existing model training overestimates performance by inadequately accounting for drift. This is primarily because typical cross-validation techniques allow data instances to appear in both training and testing sets, thereby distorting the accuracy of the predictive evaluation. As a result, these models are unable to precisely predict future drift effects, compromising their ability to generalize and adapt to evolving data conditions. This paper presents two solutions: (1) a novel sensor drift compensation learning paradigm for validating models, and (2) automated machine learning (AutoML) techniques to enhance classification performance and compensate sensor drift. By employing strategies such as data balancing, meta-learning, automated ensemble learning, hyperparameter optimization, feature selection, and boosting, our AutoML-DC (Drift Compensation) model significantly improves classification performance against sensor drift. AutoML-DC further adapts effectively to varying drift severities.
INFO-SEDD: Continuous Time Markov Chains as Scalable Information Metrics Estimators
Venue: arXiv cs.LG 2025
Year: 2025

Information-theoretic quantities play a crucial role in understanding non-linear relationships between random variables and are widely used across scientific disciplines. However, estimating these quantities remains an open problem, particularly in the case of high-dimensional discrete distributions. Current approaches typically rely on embedding discrete data into a continuous space and applying neural estimators originally designed for continuous distributions, a process that may not fully capture the discrete nature of the underlying data. We consider Continuous-Time Markov Chains (CTMCs), stochastic processes on discrete state-spaces which have gained popularity due to their generative modeling applications. In this work, we introduce INFO-SEDD, a novel method for estimating information-theoretic quantities of discrete data, including mutual information and entropy. Our approach requires the training of a single parametric model, offering significant computational and memory advantages. Additionally, it seamlessly integrates with pretrained networks, allowing for efficient reuse of pretrained generative models. To evaluate our approach, we construct a challenging synthetic benchmark. Our experiments demonstrate that INFO-SEDD is robust and outperforms neural competitors that rely on embedding techniques. Moreover, we validate our method on a real-world task: estimating the entropy of an Ising model. Overall, INFO-SEDD outperforms competing methods and shows scalability to high-dimensional scenarios, paving the way for new applications where estimating MI between discrete distribution is the focus. The promising results in this complex, high-dimensional scenario highlight INFO-SEDD as a powerful new estimator in the toolkit for information-theoretical analysis.
Distill Any Depth: Distillation Creates a Stronger Monocular Depth Estimator
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in zero-shot monocular depth estimation(MDE) have significantly improved generalization by unifying depth distributions through normalized depth representations and by leveraging large-scale unlabeled data via pseudo-label distillation. However, existing methods that rely on global depth normalization treat all depth values equally, which can amplify noise in pseudo-labels and reduce distillation effectiveness. In this paper, we present a systematic analysis of depth normalization strategies in the context of pseudo-label distillation. Our study shows that, under recent distillation paradigms (e.g., shared-context distillation), normalization is not always necessary, as omitting it can help mitigate the impact of noisy supervision. Furthermore, rather than focusing solely on how depth information is represented, we propose Cross-Context Distillation, which integrates both global and local depth cues to enhance pseudo-label quality. We also introduce an assistant-guided distillation strategy that incorporates complementary depth priors from a diffusion-based teacher model, enhancing supervision diversity and robustness. Extensive experiments on benchmark datasets demonstrate that our approach significantly outperforms state-of-the-art methods, both quantitatively and qualitatively.
A Lightweight and Extensible Cell Segmentation and Classification Model for Whole Slide Images
Venue: arXiv cs.CV 2025
Year: 2025

Developing clinically useful cell-level analysis tools in digital pathology remains challenging due to limitations in dataset granularity, inconsistent annotations, high computational demands, and difficulties integrating new technologies into workflows. To address these issues, we propose a solution that enhances data quality, model performance, and usability by creating a lightweight, extensible cell segmentation and classification model. First, we update data labels through cross-relabeling to refine annotations of PanNuke and MoNuSAC, producing a unified dataset with seven distinct cell types. Second, we leverage the H-Optimus foundation model as a fixed encoder to improve feature representation for simultaneous segmentation and classification tasks. Third, to address foundation models' computational demands, we distill knowledge to reduce model size and complexity while maintaining comparable performance. Finally, we integrate the distilled model into QuPath, a widely used open-source digital pathology platform. Results demonstrate improved segmentation and classification performance using the H-Optimus-based model compared to a CNN-based model. Specifically, average $R^2$ improved from 0.575 to 0.871, and average $PQ$ score improved from 0.450 to 0.492, indicating better alignment with actual cell counts and enhanced segmentation quality. The distilled model maintains comparable performance while reducing parameter count by a factor of 48. By reducing computational complexity and integrating into workflows, this approach may significantly impact diagnostics, reduce pathologist workload, and improve outcomes. Although the method shows promise, extensive validation is necessary prior to clinical deployment.
ArtInsight: Enabling AI-Powered Artwork Engagement for Mixed Visual-Ability Families
Venue: arXiv cs.HC 2025
Year: 2025

We introduce ArtInsight, a novel AI-powered system to facilitate deeper engagement with child-created artwork in mixed visual-ability families. ArtInsight leverages large language models (LLMs) to craft a respectful and thorough initial description of a child's artwork, and provides: creative AI-generated descriptions for a vivid overview, audio recording to capture the child's own description of their artwork, and a set of AI-generated questions to facilitate discussion between blind or low-vision (BLV) family members and their children. Alongside ArtInsight, we also contribute a new rubric to score AI-generated descriptions of child-created artwork and an assessment of state-of-the-art LLMs. We evaluated ArtInsight with five groups of BLV family members and their children, and as a case study with one BLV child therapist. Our findings highlight a preference for ArtInsight's longer, artistically-tailored descriptions over those generated by existing BLV AI tools. Participants highlighted the creative description and audio recording components as most beneficial, with the former helping ``bring a picture to life'' and the latter centering the child's narrative to generate context-aware AI responses. Our findings reveal different ways that AI can be used to support art engagement, including before, during, and after interaction with the child artist, as well as expectations that BLV adults and their sighted children have about AI-powered tools.
Multiview graph dual-attention deep learning and contrastive learning for multi-criteria recommender systems
Venue: arXiv cs.IR 2025
Year: 2025

Recommender systems leveraging deep learning models have been crucial for assisting users in selecting items aligned with their preferences and interests. However, a significant challenge persists in single-criteria recommender systems, which often overlook the diverse attributes of items that have been addressed by Multi-Criteria Recommender Systems (MCRS). Shared embedding vector for multi-criteria item ratings but have struggled to capture the nuanced relationships between users and items based on specific criteria. In this study, we present a novel representation for Multi-Criteria Recommender Systems (MCRS) based on a multi-edge bipartite graph, where each edge represents one criterion rating of items by users, and Multiview Dual Graph Attention Networks (MDGAT). Employing MDGAT is beneficial and important for adequately considering all relations between users and items, given the presence of both local (criterion-based) and global (multi-criteria) relations. Additionally, we define anchor points in each view based on similarity and employ local and global contrastive learning to distinguish between positive and negative samples across each view and the entire graph. We evaluate our method on two real-world datasets and assess its performance based on item rating predictions. The results demonstrate that our method achieves higher accuracy compared to the baseline method for predicting item ratings on the same datasets. MDGAT effectively capture the local and global impact of neighbours and the similarity between nodes.
Disentangled VAD Representations via a Variational Framework for Political Stance Detection
Venue: arXiv cs.CL 2025
Year: 2025

The stance detection task aims to categorise the stance regarding specified targets. Current methods face challenges in effectively integrating sentiment information for stance detection. Moreover, the role of highly granular sentiment labelling in stance detection has been largely overlooked. This study presents a novel stance detection framework utilizing a variational autoencoder (VAE) to disentangle latent emotional features-value, arousal, and dominance (VAD)-from political discourse on social media. This approach addresses limitations in current methods, particularly in in-target and cross-target stance detection scenarios. This research uses an advanced emotional annotation tool to annotate seven-class sentiment labels for P-STANCE. Evaluations on benchmark datasets, including P-STANCE and SemEval-2016, reveal that PoliStance-VAE achieves state-of-the-art performance, surpassing models like BERT, BERTweet, and GPT-4o. PoliStance-VAE offers a robust and interpretable solution for stance detection, demonstrating the effectiveness of integrating nuanced emotional representations. This framework paves the way for advancements in natural language processing tasks, particularly those requiring detailed emotional understanding.
Complex LLM Planning via Automated Heuristics Discovery
Venue: arXiv cs.AI 2025
Year: 2025

We consider enhancing large language models (LLMs) for complex planning tasks. While existing methods allow LLMs to explore intermediate steps to make plans, they either depend on unreliable self-verification or external verifiers to evaluate these steps, which demand significant data and computations. Here, we propose automated heuristics discovery (AutoHD), a novel approach that enables LLMs to explicitly generate heuristic functions to guide inference-time search, allowing accurate evaluation of intermediate states. These heuristic functions are further refined through a heuristic evolution process, improving their robustness and effectiveness. Our proposed method requires no additional model training or fine-tuning, and the explicit definition of heuristic functions generated by the LLMs provides interpretability and insights into the reasoning process. Extensive experiments across diverse benchmarks demonstrate significant gains over multiple baselines, including nearly twice the accuracy on some datasets, establishing our approach as a reliable and interpretable solution for complex planning tasks.
Combining Planning and Reinforcement Learning for Solving Relational Multiagent Domains
Venue: arXiv cs.MA 2025
Year: 2025

Multiagent Reinforcement Learning (MARL) poses significant challenges due to the exponential growth of state and action spaces and the non-stationary nature of multiagent environments. This results in notable sample inefficiency and hinders generalization across diverse tasks. The complexity is further pronounced in relational settings, where domain knowledge is crucial but often underutilized by existing MARL algorithms. To overcome these hurdles, we propose integrating relational planners as centralized controllers with efficient state abstractions and reinforcement learning. This approach proves to be sample-efficient and facilitates effective task transfer and generalization.
Multi-Platform Autobidding with and without Predictions
Venue: arXiv cs.GT 2025
Year: 2025

We study the problem of finding the optimal bidding strategy for an advertiser in a multi-platform auction setting. The competition on a platform is captured by a value and a cost function, mapping bidding strategies to value and cost respectively. We assume a diminishing returns property, whereby the marginal cost is increasing in value. The advertiser uses an autobidder that selects a bidding strategy for each platform, aiming to maximize total value subject to budget and return-on-spend constraint. The advertiser has no prior information and learns about the value and cost functions by querying a platform with a specific bidding strategy. Our goal is to design algorithms that find the optimal bidding strategy with a small number of queries. We first present an algorithm that requires \(O(m \log (mn) \log n)\) queries, where $m$ is the number of platforms and $n$ is the number of possible bidding strategies in each platform. Moreover, we adopt the learning-augmented framework and propose an algorithm that utilizes a (possibly erroneous) prediction of the optimal bidding strategy. We provide a $O(m \log (mη) \log η)$ query-complexity bound on our algorithm as a function of the prediction error $η$. This guarantee gracefully degrades to \(O(m \log (mn) \log n)\). This achieves a ``best-of-both-worlds'' scenario: \(O(m)\) queries when given a correct prediction, and \(O(m \log (mn) \log n)\) even for an arbitrary incorrect prediction.
Does 3D Gaussian Splatting Need Accurate Volumetric Rendering?
Venue: arXiv cs.GR 2025
Year: 2025

Since its introduction, 3D Gaussian Splatting (3DGS) has become an important reference method for learning 3D representations of a captured scene, allowing real-time novel-view synthesis with high visual quality and fast training times. Neural Radiance Fields (NeRFs), which preceded 3DGS, are based on a principled ray-marching approach for volumetric rendering. In contrast, while sharing a similar image formation model with NeRF, 3DGS uses a hybrid rendering solution that builds on the strengths of volume rendering and primitive rasterization. A crucial benefit of 3DGS is its performance, achieved through a set of approximations, in many cases with respect to volumetric rendering theory. A naturally arising question is whether replacing these approximations with more principled volumetric rendering solutions can improve the quality of 3DGS. In this paper, we present an in-depth analysis of the various approximations and assumptions used by the original 3DGS solution. We demonstrate that, while more accurate volumetric rendering can help for low numbers of primitives, the power of efficient optimization and the large number of Gaussians allows 3DGS to outperform volumetric rendering despite its approximations.